.. _program_listing_file__tmp_ws_src_aerostack2_as2_controller_include_as2_controller_controller_manager.hpp:

Program Listing for File controller_manager.hpp
===============================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_aerostack2_as2_controller_include_as2_controller_controller_manager.hpp>` (``/tmp/ws/src/aerostack2/as2_controller/include/as2_controller/controller_manager.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   /*!*******************************************************************************************
    *  \file       controller_manager.hpp
    *  \brief      Controller manager class definition
    *  \authors    Miguel Fernández Cortizas
    *              Rafael Pérez Seguí
    *              Pedro Arias Pérez
    *              David Pérez Saura
    *
    *  \copyright  Copyright (c) 2022 Universidad Politécnica de Madrid
    *              All Rights Reserved
    *
    * Redistribution and use in source and binary forms, with or without
    * modification, are permitted provided that the following conditions are met:
    *
    * 1. Redistributions of source code must retain the above copyright notice,
    *    this list of conditions and the following disclaimer.
    * 2. Redistributions in binary form must reproduce the above copyright notice,
    *    this list of conditions and the following disclaimer in the documentation
    *    and/or other materials provided with the distribution.
    * 3. Neither the name of the copyright holder nor the names of its contributors
    *    may be used to endorse or promote products derived from this software
    *    without specific prior written permission.
    *
    * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
    * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
    * THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
    * PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
    * CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
    * EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
    * PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS;
    * OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,
    * WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE
    * OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,
    * EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
    ********************************************************************************/
   
   #ifndef CONTROLLER_MANAGER_HPP
   #define CONTROLLER_MANAGER_HPP
   
   #include <as2_core/node.hpp>
   #include <as2_core/utils/control_mode_utils.hpp>
   #include <as2_core/utils/yaml_utils.hpp>
   #include <as2_msgs/msg/controller_info.hpp>
   
   #include <chrono>
   #include <filesystem>
   #include <pluginlib/class_loader.hpp>
   #include <rclcpp/logging.hpp>
   
   #include "controller_handler.hpp"
   
   class ControllerManager : public as2::Node {
   public:
     ControllerManager();
     ~ControllerManager();
   
   private:
     void config_available_control_modes(const std::filesystem::path project_path);
     void mode_timer_callback();
   
   public:
     double cmd_freq_;
   
   private:
     double info_freq_;
     std::filesystem::path plugin_name_;
     std::filesystem::path available_modes_config_file_;
   
     std::shared_ptr<pluginlib::ClassLoader<as2_controller_plugin_base::ControllerBase>> loader_;
     std::shared_ptr<ControllerHandler> controller_handler_;
     std::shared_ptr<as2_controller_plugin_base::ControllerBase> controller_;
     rclcpp::Publisher<as2_msgs::msg::ControllerInfo>::SharedPtr mode_pub_;
     rclcpp::TimerBase::SharedPtr mode_timer_;
   };
   
   #endif  // CONTROLLER_MANAGER_HPP